Automated bin system for accepting food items in robotic kitchen workspace

Abstract

A robotic kitchen system for preparing food items in combination with at least one kitchen appliance such as a fryer comprises an automated bin assembly, a robotic arm, and a basket held by the robotic arm. The automated bin assembly comprises at least one automated bin for holding the food items. A camera or sensor array collects image data of the food items in the bin(s). A central processor is operable to compute and provide directions to the first robotic arm and automated bin assembly based on the image data and stored data to (a) move the robotic arm to the bin; (b) actuate the bin to drop the food items from the bin into the basket; (c) and to move the basket into the fryer all without human interaction. Related methods are also described.

The invention claimed is: 
     
       1. A robotic kitchen system for preparing food items in combination with at least one kitchen appliance in a commercial or restaurant kitchen, the robotic kitchen system comprising:
 a robotic arm and end effector; 
 a basket, held by the end effector; 
 an automated bin assembly in the vicinity of the robotic arm, said automated bin assembly comprising a bin for holding the food items; 
 a camera or sensor array for collecting image data of the food items in the bin; 
 a central processor operable to compute and provide directions to the robotic arm and automated bin assembly to (a) move the robotic arm to the bin; and (b) actuate the bin to drop the food items from the bin into the basket; and 
 a shield and a first window in the shield through which at least a portion of the bin can protrude to receive the food items from outside the shield. 
 
     
     
       2. The robotic kitchen system of  claim 1 , wherein the central processor is further operable to compute and provide directions to move the basket into a fryer after the basket receives the food items. 
     
     
       3. The robotic kitchen system of  claim 1 , wherein the bin is operable to rotate from a first position in which a front portion of the bin protrudes through the first window, and a second position in which the food items fall out a rear opening of the bin. 
     
     
       4. The robotic kitchen system of  claim 1 , wherein the central processor is further operable to compute and provide directions to transfer the food items through a second window after the food items are cooked in the fryer. 
     
     
       5. The robotic kitchen system of  claim 1 , further comprising:
 a ramp extending through a second window, and arranged at a downward angle such that the food items placed on the ramp from within the enclosure slide down the ramp out the second window; 
 a sorting bin for collecting the food from the ramp; 
 a linear rail and motor for moving the sorting bin laterally and rotationally; and 
 at least one food holding tray for dumping the cooked food therein, and 
 wherein the central processor is further operable to compute and provide directions to move the sorting bin to the at least one food holding tray, and to dump the food into the food holding tray. 
 
     
     
       6. The robotic kitchen system of  claim 1 , wherein the automated bin station comprises a plurality of bins automatically rotatable. 
     
     
       7. The robotic kitchen system of  claim 6 , comprising a plurality of fryers. 
     
     
       8. The robotic kitchen system of  claim 7 , further comprising a scheduling engine to determine a sequence of food preparation steps to detect and transfer the food items from each of the bins to the fryers for cooking based on a plurality of inputs selected from the group consisting of camera data, customer orders, inventory, and recipe information. 
     
     
       9. The robotic kitchen system of  claim 1 , further comprising a frame, to which the shield is attached, and a linear guide to which the robotic arm is movably coupled. 
     
     
       10. The robotic kitchen system of  claim 1 , wherein the camera or sensor array comprises a RGB camera. 
     
     
       11. The robotic kitchen system of  claim 3 , wherein the bin defines a cavity comprising parallel walls, a flat floor having an angle downward between 10-45 degrees when the bin is in the first position. 
     
     
       12. The robotic kitchen system of  claim 1 , wherein the central processor is programmed and operable to classify the food in the bin based on image data arising from the camera or sensor array. 
     
     
       13. The robotic kitchen system of  claim 6 , wherein each bin comprises a dedicated mounting bracket and motor to rotate the bin. 
     
     
       14. The robotic kitchen system of  claim 6 , wherein the bins are configured to be stackable when stored. 
     
     
       15. The robotic kitchen system of  claim 1 , further comprising an overall width (W), depth (D), and height (H), and wherein W ranges from 90 to 100 inch, D ranges from 40 to 60 inch, and H ranges from 75-100 inch. 
     
     
       16. The robotic kitchen system of  claim 1 , wherein the central processor is further operable to send data collected from the bin stations to a remote server. 
     
     
       17. The robotic kitchen system of  claim 1 , wherein the central processor is operable to evaluate whether to instruct or notify the worker to carry out a task selected from the group consisting of (a) to add or supply more food to the food holding tray based on inventory levels, or (b) to throw away the food in food holding tray if the food is determined to be expired.